"""simple docstring"""


from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
a				=0

a				=[
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

a				=[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

a				=tuple[int, int]






class   __UpperCAmelCase		:

				def __init__( self      ,					_lowerCamelCase      ,					_lowerCamelCase      ,					_lowerCamelCase      ,					_lowerCamelCase      ,					_lowerCamelCase      ,					_lowerCamelCase      ,					):
										lowerCamelCase__   =pos_x
										lowerCamelCase__   =pos_y
										lowerCamelCase__   =(pos_y, pos_x)
										lowerCamelCase__   =goal_x
										lowerCamelCase__   =goal_y
										lowerCamelCase__   =g_cost
										lowerCamelCase__   =parent
										lowerCamelCase__   =self.calculate_heuristic()
										lowerCamelCase__   =self.g_cost + self.h_cost

				def 						_a      ( self ):
										lowerCamelCase__   =self.pos_x - self.goal_x
										lowerCamelCase__   =self.pos_y - self.goal_y
										if HEURISTIC == 1:
																return abs(_lowerCamelCase ) + abs(_lowerCamelCase )
										else:
																return sqrt(dy**2 + dx**2 )






				def __lt__( self      ,					_lowerCamelCase ):
										return self.f_cost < other.f_cost






class   __UpperCAmelCase		:

				def __init__( self      ,					_lowerCamelCase      ,					_lowerCamelCase ):
										lowerCamelCase__   =Node(start[1]      ,					start[0]      ,					goal[1]      ,					goal[0]      ,					0      ,					_lowerCamelCase )
										lowerCamelCase__   =Node(goal[1]      ,					goal[0]      ,					goal[1]      ,					goal[0]      ,					99999      ,					_lowerCamelCase )

										lowerCamelCase__   =[self.start]
										lowerCamelCase__   =[]

										lowerCamelCase__   =False

				def 						_a      ( self ):
										while self.open_nodes:
																# Open Nodes are sorted using __lt__
																self.open_nodes.sort()
																lowerCamelCase__   =self.open_nodes.pop(0 )

																if current_node.pos == self.target.pos:
																						return self.retrace_path(_lowerCamelCase )

																self.closed_nodes.append(_lowerCamelCase )
																lowerCamelCase__   =self.get_successors(_lowerCamelCase )

																for child_node in successors:
																						if child_node in self.closed_nodes:
																												continue

																						if child_node not in self.open_nodes:
																												self.open_nodes.append(_lowerCamelCase )
																						else:
																												# retrieve the best current path
																												lowerCamelCase__   =self.open_nodes.pop(self.open_nodes.index(_lowerCamelCase ) )

																												if child_node.g_cost < better_node.g_cost:
																																		self.open_nodes.append(_lowerCamelCase )
																												else:
																																		self.open_nodes.append(_lowerCamelCase )

										return [self.start.pos]

				def 						_a      ( self      ,					_lowerCamelCase ):
										lowerCamelCase__   =[]
										for action in delta:
																lowerCamelCase__   =parent.pos_x + action[1]
																lowerCamelCase__   =parent.pos_y + action[0]
																if not (0 <= pos_x <= len(grid[0] ) - 1 and 0 <= pos_y <= len(_lowerCamelCase ) - 1):
																						continue

																if grid[pos_y][pos_x] != 0:
																						continue

																successors.append(
																    Node(
																        _lowerCamelCase      ,					_lowerCamelCase      ,					self.target.pos_y      ,					self.target.pos_x      ,					parent.g_cost + 1      ,					_lowerCamelCase      ,					) )
										return successors






				def 						_a      ( self      ,					_lowerCamelCase ):
										lowerCamelCase__   =node
										lowerCamelCase__   =[]
										while current_node is not None:
																path.append((current_node.pos_y, current_node.pos_x) )
																lowerCamelCase__   =current_node.parent
										path.reverse()
										return path






class   __UpperCAmelCase		:

				def __init__( self      ,					_lowerCamelCase      ,					_lowerCamelCase ):
										lowerCamelCase__   =AStar(_lowerCamelCase      ,					_lowerCamelCase )
										lowerCamelCase__   =AStar(_lowerCamelCase      ,					_lowerCamelCase )
										lowerCamelCase__   =False

				def 						_a      ( self ):
										while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
																self.fwd_astar.open_nodes.sort()
																self.bwd_astar.open_nodes.sort()
																lowerCamelCase__   =self.fwd_astar.open_nodes.pop(0 )
																lowerCamelCase__   =self.bwd_astar.open_nodes.pop(0 )

																if current_bwd_node.pos == current_fwd_node.pos:
																						return self.retrace_bidirectional_path(
																						    _lowerCamelCase      ,					_lowerCamelCase )

																self.fwd_astar.closed_nodes.append(_lowerCamelCase )
																self.bwd_astar.closed_nodes.append(_lowerCamelCase )

																lowerCamelCase__   =current_bwd_node
																lowerCamelCase__   =current_fwd_node

																lowerCamelCase__   ={
																    self.fwd_astar: self.fwd_astar.get_successors(_lowerCamelCase ),
																    self.bwd_astar: self.bwd_astar.get_successors(_lowerCamelCase ),
																}

																for astar in [self.fwd_astar, self.bwd_astar]:
																						for child_node in successors[astar]:
																												if child_node in astar.closed_nodes:
																																		continue

																												if child_node not in astar.open_nodes:
																																		astar.open_nodes.append(_lowerCamelCase )
																												else:
																																		# retrieve the best current path
																																		lowerCamelCase__   =astar.open_nodes.pop(
																																		    astar.open_nodes.index(_lowerCamelCase ) )

																																		if child_node.g_cost < better_node.g_cost:
																																								astar.open_nodes.append(_lowerCamelCase )
																																		else:
																																								astar.open_nodes.append(_lowerCamelCase )

										return [self.fwd_astar.start.pos]






				def 						_a      ( self      ,					_lowerCamelCase      ,					_lowerCamelCase ):
										lowerCamelCase__   =self.fwd_astar.retrace_path(_lowerCamelCase )
										lowerCamelCase__   =self.bwd_astar.retrace_path(_lowerCamelCase )
										bwd_path.pop()
										bwd_path.reverse()
										lowerCamelCase__   =fwd_path + bwd_path
										return path


if __name__ == "__main__":
	# all coordinates are given in format [y,x]
	a				=(0, 0)
	a				=(len(grid) - 1, len(grid[0]) - 1)
	for elem in grid:
		print(elem)

	a				=time.time()
	a				=AStar(init, goal)
	a				=a_star.search()
	a				=time.time() - start_time
	print(F'''AStar execution time = {end_time:f} seconds''')

	a				=time.time()
	a				=BidirectionalAStar(init, goal)
	a				=time.time() - bd_start_time
	print(F'''BidirectionalAStar execution time = {bd_end_time:f} seconds''')



"""simple docstring"""


def      lowerCamelCase_					(   __lowerCAmelCase							)				->   bool:




						'''simple docstring'''



						return number & 1 == 0


if __name__ == "__main__":
	import doctest

	doctest.testmod()


